Explicitly specify actdim on PID plugin actuators, to allow them to b…

…e used with keyframes. Support actdim attribute on plugin actuators. Remove the actuator_actdim callback. This callback leads to crashes when loading keyframes for models that have a stateful plugin. PiperOrigin-RevId: 650649505 Change-Id: Id8fd46a4ec3797768f319c719bc0bb16bd519835
google-deepmind · Jul 9, 2024 · 1b4dbcf · 1b4dbcf
1 parent 89f6105
commit 1b4dbcf
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Showing 2 changed files with 13 additions and 13 deletions.
diff --git a/shadow_dexee/README.md b/shadow_dexee/README.md
@@ -1,6 +1,6 @@
 # Shadow DEX-EE Hand Description (MJCF)
 
-Requires MuJoCo 3.1.0 or later.
+Requires MuJoCo 3.1.7 or later.
 
 ## Overview
 

diff --git a/shadow_dexee/shadow_dexee.xml b/shadow_dexee/shadow_dexee.xml
@@ -350,29 +350,29 @@
 
   <actuator>
     <plugin name="F0/J0_actuator" plugin="mujoco.pid" instance="actuator_J0" ctrlrange="-0.8727 0.8727"
-      forcerange="-0.9 0.53" dyntype="none" joint="F0/J0"/>
+      forcerange="-0.9 0.53" dyntype="none" joint="F0/J0" actdim="2"/>
     <plugin name="F0/J1_actuator" plugin="mujoco.pid" instance="actuator_J1" ctrlrange="-1.3963 0.7854"
-      forcerange="-0.35 1.2" dyntype="none" joint="F0/J1"/>
+      forcerange="-0.35 1.2" dyntype="none" joint="F0/J1" actdim="2"/>
     <plugin name="F0/J2_actuator" plugin="mujoco.pid" instance="actuator_J2" ctrlrange="0 1.3963" forcerange="-0.52 0.7"
-      dyntype="none" joint="F0/J2"/>
+      dyntype="none" joint="F0/J2" actdim="2"/>
     <plugin name="F0/J3_actuator" plugin="mujoco.pid" instance="actuator_J3" ctrlrange="-0.5236 1.4835"
-      forcerange="-0.3 0.3" dyntype="none" joint="F0/J3"/>
+      forcerange="-0.3 0.3" dyntype="none" joint="F0/J3" actdim="2"/>
     <plugin name="F1/J0_actuator" plugin="mujoco.pid" instance="actuator_J0" ctrlrange="-0.8727 0.8727"
-      forcerange="-0.9 0.53" dyntype="none" joint="F1/J0"/>
+      forcerange="-0.9 0.53" dyntype="none" joint="F1/J0" actdim="2"/>
     <plugin name="F1/J1_actuator" plugin="mujoco.pid" instance="actuator_J1" ctrlrange="-1.3963 0.7854"
-      forcerange="-0.35 1.2" dyntype="none" joint="F1/J1"/>
+      forcerange="-0.35 1.2" dyntype="none" joint="F1/J1" actdim="2"/>
     <plugin name="F1/J2_actuator" plugin="mujoco.pid" instance="actuator_J2" ctrlrange="0 1.3963" forcerange="-0.52 0.7"
-      dyntype="none" joint="F1/J2"/>
+      dyntype="none" joint="F1/J2" actdim="2"/>
     <plugin name="F1/J3_actuator" plugin="mujoco.pid" instance="actuator_J3" ctrlrange="-0.5236 1.4835"
-      forcerange="-0.3 0.3" dyntype="none" joint="F1/J3"/>
+      forcerange="-0.3 0.3" dyntype="none" joint="F1/J3" actdim="2"/>
     <plugin name="F2/J0_actuator" plugin="mujoco.pid" instance="actuator_J0" ctrlrange="-0.8727 0.8727"
-      forcerange="-0.9 0.53" dyntype="none" joint="F2/J0"/>
+      forcerange="-0.9 0.53" dyntype="none" joint="F2/J0" actdim="2"/>
     <plugin name="F2/J1_actuator" plugin="mujoco.pid" instance="actuator_J1" ctrlrange="-1.3963 0.7854"
-      forcerange="-0.35 1.2" dyntype="none" joint="F2/J1"/>
+      forcerange="-0.35 1.2" dyntype="none" joint="F2/J1" actdim="2"/>
     <plugin name="F2/J2_actuator" plugin="mujoco.pid" instance="actuator_J2" ctrlrange="0 1.3963" forcerange="-0.52 0.7"
-      dyntype="none" joint="F2/J2"/>
+      dyntype="none" joint="F2/J2" actdim="2"/>
     <plugin name="F2/J3_actuator" plugin="mujoco.pid" instance="actuator_J3" ctrlrange="-0.5236 1.4835"
-      forcerange="-0.3 0.3" dyntype="none" joint="F2/J3"/>
+      forcerange="-0.3 0.3" dyntype="none" joint="F2/J3" actdim="2"/>
   </actuator>
 
   <sensor>